Converting 2d point to 3d point

asked 2019-10-20 09:29:09 -0500

ehsanb gravatar image

I have a fixed camera with known cameraMatrix and distCoeffs. I also have a chessboard which is fixed too, and transform and rotation vector are also calculated using solvePnP.

I'm wondering how is possible to get 3d location of a 2d point on the same plane that the chessboard is located. Like the picture below:

image description

One thing for sure is that the Z of that point is 0 but how to get X and Y of that point? I only need mathematics explanation of this projection but it would be great if there was a sample source code too.

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